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#ifndef USBLSENSORGEN_HPP_
#define USBLSENSORGEN_HPP_

#include "SensorInterface.hpp"

//Avoid including the config header
class XMLUSBLSensor;
class ROSInterfaceInfo;
class USBLSensor;

namespace plugin
{
	class USBLSensorFactory : public virtual SensorInterface
	{
		public:
			USBLSensorFactory();

			ROSInterfacePtr createRosInterface(ros::NodeHandle nh, ROSInterfaceInfo* info);
			void createSensor(UWSimHook::Ptr hook);
			std::string getRosInterfaceXmlName();
			std::string getSensorXmlName();
			SensorXML::Ptr getGenericSensorXML();
			std::string getSensorSceneName();
			void configureSensor(const xmlpp::Node* node);

		private:
			boost::shared_ptr<USBLSensor> usbl;
			boost::shared_ptr<XMLUSBLSensor> config;
	};
};

/* USBLSENSORGEN_HPP */
#endif
